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For special fields such as in-orbit maintenance, lunar surface development, and ground mine disposal, a multi-linkage-direct-drive dexterous hand has been designed, featuring a combination of single-degree-of-freedom (DoF) and three-degree-of-freedom fingers. This design aims to enhance the reliability and load-bearing capacity of the dexterous hand. The three-DoF fingers are spatial multi-bar mechanism, including three bending joints and one lateral swing joint, driven by three independent motor-screw assemblies to meet the requirements for finger bending and side-swinging functions, which provide the same motion freedom and dexterity as a human hand. The three single-DoF fingers are planar multi-link structure arranged in parallel, enabling the dexterous hand to achieve stable gripping with a large force. The dexterous hand is capable of operating general electric tools, with a load capacity exceeding 30N and a repeat positioning accuracy of 0.15 mm.

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Study on the Design and Performance Testing Methods of a Five-Finger Dexterous Hand Capable of Operating General Tools

  • 会议论文

  • 发表日期：

    2026年

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  • Fan Yang,
  • Yajing Guo,
  • Bohan Lv,
  • Cong Liu,
  • Lei Wang

摘要

For special fields such as in-orbit maintenance, lunar surface development, and ground mine disposal, a multi-linkage-direct-drive dexterous hand has been designed, featuring a combination of single-degree-of-freedom (DoF) and three-degree-of-freedom fingers. This design aims to enhance the reliability and load-bearing capacity of the dexterous hand. The three-DoF fingers are spatial multi-bar mechanism, including three bending joints and one lateral swing joint, driven by three independent motor-screw assemblies to meet the requirements for finger bending and side-swinging functions, which provide the same motion freedom and dexterity as a human hand. The three single-DoF fingers are planar multi-link structure arranged in parallel, enabling the dexterous hand to achieve stable gripping with a large force. The dexterous hand is capable of operating general electric tools, with a load capacity exceeding 30N and a repeat positioning accuracy of 0.15 mm.